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<a href="#func-members">Functions</a>  </div>
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<div class="title">Conditioning<div class="ingroups"><a class="el" href="../../d8/d8c/group__sfm.html">Structure From Motion</a></div></div>  </div>
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Functions</h2></td></tr>
<tr class="memitem:ga7b77333794ddab27da390b19baa033b2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d8b/group__conditioning.html#ga7b77333794ddab27da390b19baa033b2">cv::sfm::applyTransformationToPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> T, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> transformed_points)</td></tr>
<tr class="memdesc:ga7b77333794ddab27da390b19baa033b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply Transformation to points.  <a href="../../da/d8b/group__conditioning.html#ga7b77333794ddab27da390b19baa033b2">More...</a><br /></td></tr>
<tr class="separator:ga7b77333794ddab27da390b19baa033b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga646945dfd23dd78577c04f98441668eb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d8b/group__conditioning.html#ga646945dfd23dd78577c04f98441668eb">cv::sfm::isotropicPreconditionerFromPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> T)</td></tr>
<tr class="memdesc:ga646945dfd23dd78577c04f98441668eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point conditioning (isotropic).  <a href="../../da/d8b/group__conditioning.html#ga646945dfd23dd78577c04f98441668eb">More...</a><br /></td></tr>
<tr class="separator:ga646945dfd23dd78577c04f98441668eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga6dd543753e1ef54fe91a4f34e3bcfa81"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d8b/group__conditioning.html#ga6dd543753e1ef54fe91a4f34e3bcfa81">cv::sfm::normalizeIsotropicPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> normalized_points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> T)</td></tr>
<tr class="memdesc:ga6dd543753e1ef54fe91a4f34e3bcfa81"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function normalizes points. (isotropic).  <a href="../../da/d8b/group__conditioning.html#ga6dd543753e1ef54fe91a4f34e3bcfa81">More...</a><br /></td></tr>
<tr class="separator:ga6dd543753e1ef54fe91a4f34e3bcfa81"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga2c1df04b9b822fbbb5f3a3c0c1c66ebb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d8b/group__conditioning.html#ga2c1df04b9b822fbbb5f3a3c0c1c66ebb">cv::sfm::normalizePoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> normalized_points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> T)</td></tr>
<tr class="memdesc:ga2c1df04b9b822fbbb5f3a3c0c1c66ebb"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function normalizes points (non isotropic).  <a href="../../da/d8b/group__conditioning.html#ga2c1df04b9b822fbbb5f3a3c0c1c66ebb">More...</a><br /></td></tr>
<tr class="separator:ga2c1df04b9b822fbbb5f3a3c0c1c66ebb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga85b7dbb7aebde1e970ec1c034edfd19c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d8b/group__conditioning.html#ga85b7dbb7aebde1e970ec1c034edfd19c">cv::sfm::preconditionerFromPoints</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> T)</td></tr>
<tr class="separator:ga85b7dbb7aebde1e970ec1c034edfd19c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<h2 class="groupheader">Function Documentation</h2>
<a id="ga7b77333794ddab27da390b19baa033b2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga7b77333794ddab27da390b19baa033b2">&#9670;&nbsp;</a></span>applyTransformationToPoints()</h2>

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          <td class="memname">void cv::sfm::applyTransformationToPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>T</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>transformed_points</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d7/d09/conditioning_8hpp.html">opencv2/sfm/conditioning.hpp</a>&gt;</code></p>

<p>Apply Transformation to points. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">T</td><td>Input 3x3 transformation matrix such that \(x = T*X\), where \(X\) are the points to transform and \(x\) the transformed points. </td></tr>
    <tr><td class="paramname">transformed_points</td><td>Output vector of N-dimensional transformed points. </td></tr>
  </table>
  </dd>
</dl>

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<a id="ga646945dfd23dd78577c04f98441668eb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga646945dfd23dd78577c04f98441668eb">&#9670;&nbsp;</a></span>isotropicPreconditionerFromPoints()</h2>

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          <td class="memname">void cv::sfm::isotropicPreconditionerFromPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>T</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d7/d09/conditioning_8hpp.html">opencv2/sfm/conditioning.hpp</a>&gt;</code></p>

<p>Point conditioning (isotropic). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">T</td><td>Output 3x3 transformation matrix.</td></tr>
  </table>
  </dd>
</dl>
<p>Computes the transformation matrix such that each coordinate direction will be scaled equally, bringing the centroid to the origin with an average centroid \((1,1,1)^T\).<br />
Reference: <a class="el" href="../../d0/de3/citelist.html#CITEREF_HartleyZ00">[103]</a> 4.4.4 pag.107. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ga6dd543753e1ef54fe91a4f34e3bcfa81">&#9670;&nbsp;</a></span>normalizeIsotropicPoints()</h2>

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      <table class="memname">
        <tr>
          <td class="memname">void cv::sfm::normalizeIsotropicPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>normalized_points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>T</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d7/d09/conditioning_8hpp.html">opencv2/sfm/conditioning.hpp</a>&gt;</code></p>

<p>This function normalizes points. (isotropic). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">normalized_points</td><td>Output vector of the same N-dimensional points but with mean 0 and average norm \(\sqrt{2}\). </td></tr>
    <tr><td class="paramname">T</td><td>Output 3x3 transform matrix such that \(x = T*X\), where \(X\) are the points to normalize and \(x\) the normalized points.</td></tr>
  </table>
  </dd>
</dl>
<p>Internally calls <a class="el" href="../../da/d8b/group__conditioning.html#ga85b7dbb7aebde1e970ec1c034edfd19c">preconditionerFromPoints</a> in order to get the scaling matrix before applying <a class="el" href="../../da/d8b/group__conditioning.html#ga7b77333794ddab27da390b19baa033b2">applyTransformationToPoints</a>. This operation is an essential step before applying the DLT algorithm in order to consider the result as optimal.<br />
Reference: <a class="el" href="../../d0/de3/citelist.html#CITEREF_HartleyZ00">[103]</a> 4.4.4 pag.107. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ga2c1df04b9b822fbbb5f3a3c0c1c66ebb">&#9670;&nbsp;</a></span>normalizePoints()</h2>

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          <td class="memname">void cv::sfm::normalizePoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>normalized_points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>T</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d7/d09/conditioning_8hpp.html">opencv2/sfm/conditioning.hpp</a>&gt;</code></p>

<p>This function normalizes points (non isotropic). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">normalized_points</td><td>Output vector of the same N-dimensional points but with mean 0 and average norm \(\sqrt{2}\). </td></tr>
    <tr><td class="paramname">T</td><td>Output 3x3 transform matrix such that \(x = T*X\), where \(X\) are the points to normalize and \(x\) the normalized points.</td></tr>
  </table>
  </dd>
</dl>
<p>Internally calls <a class="el" href="../../da/d8b/group__conditioning.html#ga85b7dbb7aebde1e970ec1c034edfd19c">preconditionerFromPoints</a> in order to get the scaling matrix before applying <a class="el" href="../../da/d8b/group__conditioning.html#ga7b77333794ddab27da390b19baa033b2">applyTransformationToPoints</a>. This operation is an essential step before applying the DLT algorithm in order to consider the result as optimal.<br />
Reference: <a class="el" href="../../d0/de3/citelist.html#CITEREF_HartleyZ00">[103]</a> 4.4.4 pag.109 </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ga85b7dbb7aebde1e970ec1c034edfd19c">&#9670;&nbsp;</a></span>preconditionerFromPoints()</h2>

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          <td class="memname">void cv::sfm::preconditionerFromPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>T</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d7/d09/conditioning_8hpp.html">opencv2/sfm/conditioning.hpp</a>&gt;</code></p>
<p>Point conditioning (non isotropic). </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">T</td><td>Output 3x3 transformation matrix.</td></tr>
  </table>
  </dd>
</dl>
<p>Computes the transformation matrix such that the two principal moments of the set of points are equal to unity, forming an approximately symmetric circular cloud of points of radius 1 about the origin.<br />
Reference: <a class="el" href="../../d0/de3/citelist.html#CITEREF_HartleyZ00">[103]</a> 4.4.4 pag.109 </p>

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